KRC4 -- Change Supply Voltage EU to NA

    I have a coworker who's having an issue with a 7-axis KRC4 that needs to be changed from EU to NA. They've been able to change the robot from 400V to 480V in WoV, but can't change the 7th axis. And WoV won't Deploy the modified project because it "contains machines with different supply voltages".

    The WoV config page for the independent 7th axis has a setting for Supply Voltage, but it's greyed out.

    Personally, I've never had to play with the Supply Voltage settings -- my KRCs always came set up from the factory with an external transformer, and if/when we did have to move a robot between different voltage power grids, we just changed taps on the transformers.

    the 7th axis used is probably set to lovked in its template. If you lookup the external kinematics manual you can use the editor who's name i cant remember to make your own axis and or copy/modify this specific element. When you make the axis "templates" you can choose which options are locked and hence greyed out.

    If you look in the folder where the wov executable is you will find this program.

    Well, while this was going on, my coworker changed $SUPPLY_VOLTAGE in $MACHINE.DAT, and that seemed to work, but it created a new problem: WoV refused to Deploy the project because the Base associated with the external unit (which is a two-axis machine, rather like a DKP, apparently) was "reset" by the voltage change. The error message was "the Base associated with (kinematic unit) has been reset)."

    They were able to get past that error by giving the Base a name and setting it's BASE_DATAT values to something that wasn't all 0s, but I'm concerned that something else non-obvious might have gotten broken.

    Addendum: apparently the external kinematic unit may actually be a DKP that an earlier integrator renamed. According to my coworker, the source voltage needs to be selected when pulling the DTM Catalog entry into the project, but the only way they could do that was to delete the existing entry, then re-import the Catalog item but picking 480V this time instead of 400V. But that erased all the kinematic configurations.

    So, it looks like part of the problem is that WoV will let you change the mains voltage for the KRC4 after the fact, but not this DTM catalog item. Strikes me a bit odd, since the two axes of the external unit are regular KUKA servos on E1 and E2 powered by the KPP.

    I'm still interested in how changing the Source Voltage setting in WoV works. The Properties window for the KRC4 lists mutliple "Supported Voltages":

    But I'd always thought the KRC4 had to have 400V input, and external transformers had to be used to convert the local grid voltage up or down to that voltage. If the KPP can actually support anything from 380-480V without an external transformer, that would be significant.

    Canadian 570V appears to be off the table, though. Poor Canucks. No love from the Germans. 🤣

    Motors are inductive loads. Higher voltage means faster current rise times. So the timing for servo drives need to adapted.

    So when changing to a different supply voltage, one need to remove all kinematics, then add them again but from correct catalogs. That is what WoV menu File/Catalog Management is for....

    In the past standard catalogs did not have supply voltage in the name. Only catalogs with 'oddities' used to include voltage in the name. But i like the change since there is no more ambiguity what the 'standard' is

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

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